Automatic butt joint water feeding device and butt joint method for precise watering cart

Abstract

The invention relates to the technical field of butt joint devices, in particular to an automatic butt joint water feeding device of a precise watering cart and a butt joint method.The automatic butt joint water feeding device of the precise watering cart comprises a fixed bottom frame, a power output mechanism, an adjusting mechanism, a telescopic arm frame mechanism and a gripper mechanism, and the gripper mechanism comprises a gripper adjusting module and a gripper grabbing module; the gripper adjusting module comprises a first hydraulic rotary cylinder installed on the telescopic boom mechanism, a large gripping arm installed at the rotating end of the first hydraulic rotary cylinder, a large gripping arm hydraulic cylinder, a small gripping arm rotationally installed on the large gripping arm, a small gripping arm hydraulic cylinder and a fine adjustment assembly installed at the top end of the small gripping arm. By driving the gripper large arm hydraulic cylinder, the gripper small arm hydraulic cylinder and the fine adjustment assembly, the position of the gripper grabbing module can be accurately adjusted, a tap water pipe can be more accurately grabbed, a water outlet of the tap water pipe and a water inlet of a watering cart water pipe can be stably and accurately calibrated and butted, water feeding operation is more intelligent, and the overall operation efficiency of the water feeding device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of docking devices, in particular to a precise automatic docking water supply device for a sprinkler truck and a docking method. Background Art

[0002] Sprinkler trucks are the main equipment for environmental dust suppression and road cleaning. During the operation of sprinkler trucks, water sources need to be frequently replenished to ensure the accuracy of the operation.

[0003] The existing method of filling water into a sprinkler truck usually involves lifting the water pipe to a position close to the water inlet of the sprinkler truck through a robotic arm, and then manually connecting the water pipe outlet to the water inlet of the sprinkler truck. Therefore, the existing water filling method requires manual assistance from the robotic arm for precise docking. Manual docking is more dependent on the operation of the operator. If there is an error in the operation, it may cause water leakage at the water inlet, which not only affects the efficiency of the water filling operation, but also causes a waste of water resources. Moreover, manual assistance requires a long docking time, resulting in a waste of labor costs and time costs. If it is hotter, manual assistance outdoors to assist the sprinkler truck in filling water will require a long waiting time, which can easily cause damage to the health of the docking operators and pose a safety hazard. Summary of the Invention

[0004] In view of the fact that the existing technology requires manual assistance of a robotic arm to connect the water pipe outlet with the water inlet of a sprinkler truck, errors are prone to occur, causing water leakage at the water inlet. Not only is the water supply operation efficiency low, but it also causes water resource waste. The present invention provides a precise sprinkler truck automatic docking water supply device and docking method.

[0005] The present invention provides a precise automatic docking and water supply device for a sprinkler truck, comprising a fixed base frame docked with the sprinkler truck, a power output mechanism installed on the fixed base frame, an adjustment mechanism connected to the oil circuit of the power output mechanism, a telescopic arm mechanism installed on the adjustment mechanism for adjusting the docking position between a tap water pipe and a water pipe of the sprinkler truck, and a gripping mechanism installed on the top of the telescopic arm mechanism for precisely grasping the tap water pipe.

[0006] The gripper mechanism comprises: a gripper adjustment module installed with the telescopic arm mechanism and a gripper grabbing module installed on the top of the gripper adjustment module.

[0007] The grab adjustment module includes: a first hydraulic rotary cylinder installed on the telescopic arm mechanism, a grab arm installed on the rotating end of the first hydraulic rotary cylinder through a first connecting piece, a grab arm hydraulic cylinder with one end rotatably installed with the first connecting piece and the other end rotatably installed with the grab arm, a grab arm rotatably installed with the grab arm, a grab arm hydraulic cylinder with one end rotatably installed with the grab arm and the other end rotatably installed with the grab arm, and a fine-tuning component installed on the top of the grab arm.

[0008] Furthermore, the power output mechanism includes: a fixed mounting frame installed on the fixed base frame, and a master pump, an oil tank, a cooling fan and an oil circuit control valve group installed on the fixed mounting frame.

[0009] The oil inlet of the master pump is communicated with the oil tank pipeline, and the oil outlet of the master pump is communicated with the oil circuit control valve group pipeline through a four-way joint.

[0010] The cooling fan is arranged on the oil return channel of the oil circuit control valve group and is used for cooling the returning hydraulic oil.

[0011] Furthermore, the fine-tuning assembly includes: a fixed support plate installed on the top of the grabbing arm, a connecting block rotatably installed on the end of the fixed support plate, a first connecting frame rotatably connected to the fixed support plate, a second connecting frame rotatably installed at one end to the first connecting frame and the other end to the connecting block, and a fine-tuning control hydraulic cylinder installed at one end to the grabbing arm and the other end to the end of the first connecting frame, and the grabbing module of the gripper is installed on the connecting block.

[0012] Furthermore, the gripper grabbing module includes: a second hydraulic rotary cylinder fixedly mounted on the fine-tuning assembly and a claw assembly mounted on the rotating end of the second hydraulic rotary cylinder for gripping the tap water pipe.

[0013] Furthermore, the claw assembly includes: a rotary chuck installed on the rotating end of the second hydraulic rotary cylinder, a plurality of wedge-shaped grooves provided on the rotary chuck, and a wedge block installed in the wedge-shaped groove through a rack and pinion transmission. A mounting hole is provided at the center of the rotary chuck, which passes through the second hydraulic rotary cylinder for the tap water pipe to pass through.

[0014] The tap water pipe is inserted into the installation hole, and the rotation of the rotary chuck drives the wedge block to move toward the center position in the wedge groove, clamping the tap water pipe between several wedge blocks, and the water outlet of the tap water pipe is inserted into the installation hole.

[0015] Furthermore, the telescopic arm mechanism includes: a third hydraulic rotary cylinder installed on the adjusting mechanism through a connecting frame, an adjusting arm installed on the rotating end of the third hydraulic rotary cylinder through a second connecting piece, an adjusting arm hydraulic cylinder with one end rotatably installed on the second connecting piece and the other end rotatably installed with the adjusting arm, a first adjusting arm rotatably installed with the adjusting arm, a first adjusting arm hydraulic cylinder with one end rotatably installed with the adjusting arm and the other end rotatably installed with the first adjusting arm, a second adjusting arm rotatably installed with the first adjusting arm, and a second adjusting arm hydraulic cylinder with one end rotatably installed with the first adjusting arm and the other end installed with the second adjusting arm; the grabber grabbing module is installed at the top of the second adjusting arm.

[0016] Furthermore, the adjustment mechanism includes: two parallel X-axis hydraulic cylinders installed on the fixed base frame, an L-shaped X-axis mounting plate installed on the retracted end of the X-axis hydraulic cylinder, an X-axis sliding assembly installed between the X-axis mounting plate and the X-axis hydraulic cylinder, a Y-axis hydraulic cylinder installed on the two X-axis hydraulic cylinders, an L-shaped Y-axis mounting plate installed on the retracted end of the Y-axis hydraulic cylinder, and a Y-axis sliding assembly installed between the Y-axis mounting plate and the Y-axis hydraulic cylinder; the gripper grabbing module is installed on the Y-axis mounting plate.

[0017] Furthermore, the oil circuit control valve group includes: a first oil circuit control valve, a second oil circuit control valve and a third oil circuit control valve.

[0018] The first oil circuit control valve controls the first hydraulic rotary cylinder, the second hydraulic rotary cylinder, and the third hydraulic rotary cylinder.

[0019] The second oil circuit control valve controls the X-axis hydraulic cylinder, the Y-axis hydraulic cylinder, the adjusting boom hydraulic cylinder, the first adjusting arm hydraulic cylinder, the second adjusting arm hydraulic cylinder and the grabbing boom hydraulic cylinder.

[0020] The third oil circuit control valve controls the grabbing arm hydraulic cylinder and the fine-tuning control hydraulic cylinder.

[0021] Furthermore, the power output mechanism controls the operation of each hydraulic cylinder through the oil circuit control valve group, which specifically includes the following contents:

[0022] The hydraulic oil flows into the oil circuit control valve group through the oil tank outlet, the master pump oil inlet, and the master pump oil outlet in sequence.

[0023] The rotation of the first hydraulic rotary cylinder, the second hydraulic rotary cylinder and the third hydraulic rotary cylinder is controlled by controlling the on-off of the first oil circuit control valve.

[0024] By controlling the on-off of the second oil circuit control valve, the extension and retraction of the X-axis hydraulic cylinder, the Y-axis hydraulic cylinder, the adjusting arm hydraulic cylinder, the first adjusting arm hydraulic cylinder, the second adjusting arm hydraulic cylinder and the grabbing arm hydraulic cylinder are controlled.

[0025] By controlling the on-off of the third oil circuit control valve, the extension and retraction of the grabbing arm hydraulic cylinder and the fine-tuning control hydraulic cylinder are controlled.

[0026] The oil return port of the oil circuit control valve group is connected to the oil return oil circuit of the oil tank, and a cooling fan is arranged on the oil return oil circuit to cool the returning hydraulic oil.

[0027] The present invention also provides a method for automatically docking a precision sprinkler truck with a water supply device, which uses the above-mentioned precision sprinkler truck to automatically dock with a water supply device, including the following steps:

[0028] S1. The hydraulic oil in the power output mechanism flows into the master pump and the oil circuit control valve group to control the telescopic movement of each hydraulic cylinder.

[0029] S2. Drive the adjustment mechanism to move the telescopic arm mechanism and the gripper mechanism to a position close to the tap water pipe.

[0030] S3. Adaptively adjust the telescopic arm mechanism so that the gripping mechanism is close to the tap water pipe.

[0031] S4. Adaptively adjust the gripper adjustment module and control the gripper grasping module to accurately grasp the water pipe.

[0032] S5. The gripper grabbing module grabs the tap water pipe until the water outlet of the tap water pipe extends out of the gripper grabbing module to a specific position.

[0033] S6. Adaptively adjust the regulating mechanism, telescopic arm mechanism and gripper regulating module so that the water outlet of the tap water pipe is connected to the water inlet of the sprinkler truck water pipe.

[0034] S7. Connect the water outlet of the tap water pipe with the water inlet of the sprinkler truck water pipe by controlling the gripper grasping module, and rotate and tighten them.

[0035] S8. Release the gripper to grab the module and complete the automatic docking of the tap water pipe outlet and the sprinkler truck water pipe inlet.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The patent of the present invention adjusts the grab module to a position close to the water pipe by driving the adjustment mechanism, the telescopic arm mechanism and the grab adjustment module, and then grabs the water pipe by driving the grab module, and accurately connects the water outlet of the water pipe with the water inlet of the sprinkler truck by controlling the adjustment mechanism, the telescopic arm mechanism and the grab adjustment module; this structure drives the grab arm hydraulic cylinder, the grab arm hydraulic cylinder and the fine-tuning component to accurately adjust the position of the grab module, making the grabbing of the water pipe more accurate, and also making the water outlet of the water pipe and the water inlet of the sprinkler truck more stable and accurate when adjusting and connecting, thereby making the water supply operation more intelligent and improving the overall operation efficiency of the water supply device.

[0038] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Figure 1 This is the structural diagram of the water supply device installed on the sprinkler truck.

[0041] Figure 2 This is the overall structural diagram of the water supply device.

[0042] Figure 3 This is the structural diagram of the power output mechanism.

[0043] Figure 4 This is a structural diagram of some parts of the water supply device.

[0044] Figure 5 This is the structural diagram of the telescopic arm mechanism.

[0045] Figure 6 This is the structural diagram of the gripper mechanism.

[0046] Figure 7 This is the structural diagram of the gripper grasping module.

[0047] Figure 8 This is the hydraulic control block diagram of the power output mechanism.

[0048] Numbers in the figure: 1, fixed chassis;

[0049] 2. Power take-off mechanism; 21. Fixed mounting bracket; 22. Master pump; 23. Fuel tank; 24. Cooling fan; 25. Oil control valve group; 251. First oil control valve; 252. Second oil control valve; 253. Third oil control valve;

[0050] 3. Adjustment mechanism; 31. X-axis hydraulic cylinder; 32. X-axis mounting plate; 33. X-axis sliding assembly; 331. X-axis guide rail; 332. X-axis slider; 34. Y-axis hydraulic cylinder; 35. Y-axis mounting plate; 36. Y-axis sliding assembly; 361. Y-axis guide rail; 362. Y-axis slider;

[0051] 4. Telescopic boom mechanism; 41. Third hydraulic rotary cylinder; 42. Second connecting piece; 43. Adjustable boom; 44. Adjustable boom hydraulic cylinder; 45. First adjustable arm; 46. First adjustable arm hydraulic cylinder; 47. Second adjustable arm; 48. Second adjustable arm hydraulic cylinder; 49. Connecting frame;

[0052] 5. Gripper mechanism; 51. Gripper adjustment module; 511. First hydraulic rotary cylinder; 512. First connecting member; 513. Grab boom; 514. Grab boom hydraulic cylinder; 515. Grab forearm; 516. Grab forearm hydraulic cylinder; 517. Fine-tuning assembly; 5171. Fixed support plate; 5172. Connecting block; 5173. First connecting frame; 5174. Second connecting frame; 5175. Fine-tuning control hydraulic cylinder;

[0053] 52. Gripper grabbing module; 521. Second hydraulic rotary cylinder; 522. Claw assembly; 5221. Rotary chuck; 5222. Wedge groove; 5223. Wedge block; 5224. Mounting hole. DETAILED DESCRIPTION

[0054] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0055] It should be noted that when an element is referred to as being “fixed on” or “set on” another component, it can be directly on the other component or indirectly set on the other component; when a component is referred to as being “connected to” another component, it can be directly connected to the other component or indirectly connected to the other component.

[0056] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0057] Please refer to Figures 1 to 8The present invention provides a precise automatic docking and water supply device for a sprinkler truck, comprising a fixed base frame 1 mounted for docking with the sprinkler truck, a power output mechanism 2 mounted on the fixed base frame 1, an adjustment mechanism 3 connected to the oil circuit of the power output mechanism 2, a telescopic arm mechanism 4 mounted on the adjustment mechanism 3 for adjusting the docking position of the tap water pipe and the sprinkler truck water pipe, and a gripping mechanism 5 mounted on the top of the telescopic arm mechanism 4 for precisely grasping the water pipe.

[0058] In this embodiment, the automatic docking water supply device of the precision sprinkler truck of the present invention is installed at the tail end of the sprinkler truck, which can automatically connect the water outlet of the water pipe to the water inlet of the sprinkler truck, thereby realizing automatic water supply of the sprinkler truck, making the water supply of the sprinkler truck more convenient and safe, and can improve the efficiency of the water supply of the sprinkler truck, further saving water supply time.

[0059] The patent of the present invention adjusts the grabbing module 52 to a position close to the water pipe by driving the adjustment mechanism 3, the telescopic arm mechanism 4 and the gripper adjustment module 51, and then grabs the water pipe by driving the gripper grabbing module 52, and accurately connects the water outlet of the water pipe with the water inlet of the sprinkler truck by controlling the adjustment mechanism 3, the telescopic arm mechanism 4 and the gripper adjustment module 51; this structure makes the grasping of the water pipe more accurate through the setting of the gripper assembly, and also makes the water outlet of the water pipe and the water inlet of the sprinkler truck more stable and accurate when adjusting and connecting, thereby making the water supply operation more intelligent and improving the overall operation efficiency of the water supply device.

[0060] It is further explained that the power output mechanism 2 provides power to the adjustment mechanism 3, the telescopic frame mechanism, and the gripping mechanism 5. By activating the power output mechanism 2, the adjustment mechanism 3 is driven to adjust the telescopic frame mechanism and the gripping mechanism 5 to a position suitable for gripping the water pipe. The water pipe is then gripped by driving the telescopic frame mechanism and cooperating with the gripping mechanism 5. Finally, the adjustment mechanism 3, the telescopic frame mechanism, and the gripping mechanism 5 work together to precisely align the water pipe outlet with the water inlet of the sprinkler truck. The coordinated arrangement of the adjustment mechanism 3, the telescopic frame mechanism, and the gripping mechanism 5 allows for more flexible gripping of the water pipe, further improving the precision of the water pipe docking and enhancing the overall accuracy and practicality of the water supply device.

[0061] like Figure 4 As shown, the adjustment mechanism 3 includes: two parallel X-axis hydraulic cylinders 31 installed on the fixed base frame 1, an L-shaped X-axis mounting plate 32 installed on the retracted end of the X-axis hydraulic cylinder 31, an X-axis sliding assembly 33 installed between the X-axis mounting plate 32 and the X-axis hydraulic cylinder 31, a Y-axis hydraulic cylinder 34 installed on the two X-axis hydraulic cylinders 31, an L-shaped Y-axis mounting plate 35 installed at the retracted end of the Y-axis hydraulic cylinder 34, and a Y-axis sliding assembly 36 installed between the Y-axis mounting plate 35 and the Y-axis hydraulic cylinder 34; the gripper grabbing module 52 is installed on the X-axis mounting plate 32.

[0062] In this embodiment, the X-axis sliding assembly 33 includes: an X-axis guide rail 331 installed on the upper side of the X-axis hydraulic cylinder 31, and an X-axis slider 332 installed on the lower side of the X-axis mounting plate 32 and slidingly installed with the X-axis guide rail 331.

[0063] The Y-axis sliding assembly 36 includes a Y-axis guide rail 361 mounted on the upper side of the Y-axis hydraulic cylinder 34 , and a Y-axis slider 362 mounted on the lower side of the Y-axis mounting plate 35 and slidably mounted with the Y-axis guide rail 361 .

[0064] The telescopic ends of the two X-axis hydraulic cylinders 31 are driven to extend, so that the X-axis mounting plate 32 moves outward in the X direction. At this time, the X-axis slider 332 slides on the X-axis guide rail 331, and the Y-axis hydraulic cylinder 34 installed on the two X-axis hydraulic cylinders 31 moves outward accordingly. The telescopic ends of the Y-axis hydraulic cylinder 34 are driven to extend, so that the Y-axis mounting plate 35 moves synchronously. At this time, the Y-axis slider 362 slides on the Y-axis guide rail 361, and the distance between the telescopic frame mechanism installed on the Y-axis mounting plate 35 and the water pipe can be adjusted to facilitate the gripping mechanism 5 to grab the water pipe.

[0065] It is further explained that the distance between the telescopic frame mechanism and the gripping mechanism 5 and the water pipe can be adaptively adjusted through the cooperation of the X-axis hydraulic cylinder 31 and the Y-axis hydraulic cylinder 34, and after grabbing the water pipe, the distance from the water outlet of the water pipe to the water inlet of the sprinkler truck can also be adjusted through the cooperation of the X-axis hydraulic cylinder 31 and the Y-axis hydraulic cylinder 34. The telescopic frame mechanism and the gripping mechanism 5 can be quickly adjusted to the appropriate position, thereby improving the overall operating efficiency of the device.

[0066] like Figure 5 As shown, the telescopic arm mechanism 4 includes: a third hydraulic rotary cylinder 41 installed on the adjusting mechanism 3 through a connecting frame 49, an adjusting arm 43 installed on the rotating end of the third hydraulic rotary cylinder 41 through a second connecting member 42, an adjusting arm hydraulic cylinder 44 with one end rotatably installed on the second connecting member 42 and the other end rotatably installed with the adjusting arm 43, a first adjusting arm 45 rotatably installed with the adjusting arm 43, a first adjusting arm hydraulic cylinder 46 with one end rotatably installed with the adjusting arm 43 and the other end rotatably installed with the first adjusting arm 45, a second adjusting arm 47 rotatably installed with the first adjusting arm 45, and a second adjusting arm hydraulic cylinder 48 with one end rotatably installed with the first adjusting arm 45 and the other end rotatably installed with the second adjusting arm 47; a grabber grabbing module 52 is installed at the top of the second adjusting arm 47.

[0067] In this embodiment, the third hydraulic rotary cylinder 41 is installed on the Y-axis mounting plate 35 through a mounting seat; when the gripper mechanism 5 is adjusted to grab the water pipe, the third hydraulic rotary cylinder 41 is driven to rotate, and the driving and adjusting arm hydraulic cylinder 44, the first adjustment arm hydraulic cylinder 46 and the second adjustment arm hydraulic cylinder 48 can be cooperated to adaptively adjust the distance between the gripper grabbing module 52 and the water pipe, ensuring that the gripper grabbing module 52 can grab the water pipe conveniently and accurately.

[0068] When the gripping mechanism 5 is adjusted to precisely connect the water inlet of the grasped water pipe with the water inlet of the sprinkler truck, the third hydraulic rotary cylinder 41 is driven to rotate, and the driving and adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46 and the second adjusting arm hydraulic cylinder 48 are coordinated to adaptively adjust the distance from the water pipe grasped on the gripping module 52 to the water inlet of the sprinkler truck, ensuring that the water inlet of the water pipe can be precisely connected with the water inlet of the sprinkler truck to supply water.

[0069] It is further explained that the cooperation of the third hydraulic rotary cylinder 41, the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46 and the second adjusting arm hydraulic cylinder 48 enables the adjusting arm 43, the first adjusting arm 45 and the second adjusting arm 47 to rotate flexibly, thereby enhancing the flexibility of the telescopic arm mechanism 4, further ensuring the flexibility of grabbing the water pipe and the accuracy of docking the water pipe outlet with the water inlet of the sprinkler truck.

[0070] like Figure 6 As shown, the gripper mechanism 5 includes: a gripper adjustment module 51 installed with the telescopic arm mechanism 4 and a gripper grabbing module 52 installed on the top of the gripper adjustment module 51 .

[0071] The grab adjustment module 51 includes: a first hydraulic rotary cylinder 511 installed on the telescopic arm mechanism 4, a grabbing arm 513 installed on the rotating end of the first hydraulic rotary cylinder 511 through a first connecting member 512, a grabbing arm hydraulic cylinder 514, one end of which is rotatably mounted with the first connecting member 512 and the other end is rotatably mounted with the grabbing arm 513, a grabbing arm 515 rotatably mounted with the grabbing arm 513, a grabbing arm hydraulic cylinder 516, one end of which is rotatably mounted with the grabbing arm 513 and the other end is rotatably mounted with the grabbing arm 515, and a fine-tuning component 517 installed on the top of the grabbing arm 515.

[0072] like Figure 6As shown, the fine-tuning assembly 517 includes: a fixed support plate 5171 installed on the top of the grabbing arm 515, a connecting block 5172 rotatably installed on the end of the fixed support plate 5171, a first connecting frame 5173 rotatably connected to the fixed support plate 5171, a second connecting frame 5174 rotatably installed at one end to the first connecting frame 5173 and at the other end to the connecting block 5172, and a fine-tuning control hydraulic cylinder 5175 installed at one end to the grabbing arm 515 and at the other end to the end of the first connecting frame 5173. The gripper grabbing module 52 is installed on the connecting block 5172.

[0073] In this embodiment, the grabber adjustment module 51 is mainly used to adjust the position of the grabber grasping module 52. When the grabber grasping module 52 grasps the water pipe, it drives the grabber arm hydraulic cylinder 514, the grabber arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175, so that the distance from the grabber grasping module 52 to the water pipe can be flexibly adjusted, and the grabber grasping module is driven to grasp the water pipe.

[0074] When the water pipe outlet is docked with the water inlet of the sprinkler truck, the grabbing arm hydraulic cylinder 514, the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 are driven again so that the grabbed water pipe can be accurately docked and installed with the water inlet of the sprinkler truck.

[0075] It is further explained that the ends of the first connecting frame 5173 and the second connecting frame 5174 are both installed with the telescopic end of the fine-tuning control hydraulic cylinder 5175, which drives the telescopic end of the fine-tuning control hydraulic cylinder 5175 to extend, so that the first connecting frame 5173 and the second connecting frame 5174 rotate synchronously, driving the connecting block 5172 to rotate synchronously, and the position of the grabber grasping module 52 installed on the connecting block 5172 can be adaptively adjusted by fine-tuning the extension or retraction of the telescopic end of the hydraulic cylinder 5175. The setting of the first connecting frame 5173 and the second connecting frame 5174 makes the control of the connecting block 5172 more precise and stable.

[0076] It is further explained that the cooperation of the grabbing arm hydraulic cylinder 514, the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 enables the grabbing arm 513, the grabbing arm 515, the first connecting frame 5173 and the second connecting frame 5174 to rotate flexibly, thereby enabling the grabbing module 52 installed on the connecting block 5172 to be accurately aligned, thereby enhancing the flexibility and accuracy of the device.

[0077] like Figure 7 As shown, the gripper grabbing module 52 includes: a second hydraulic rotary cylinder 521 fixedly mounted on the fine-tuning assembly 517 and a claw assembly 522 mounted on the rotating end of the second hydraulic rotary cylinder 521 for gripping the tap water pipe.

[0078] The claw assembly 522 includes: a rotating chuck 5221 installed with the rotating end of the second hydraulic rotary cylinder 521, a plurality of wedge-shaped grooves 5222 arranged on the rotating chuck 5221, and a wedge block 5223 installed in the wedge groove 5222 through a rack and pinion transmission; a mounting hole 5224 is provided at the center position of the rotating chuck 5221 for the tap water pipe to pass through the second hydraulic rotary cylinder 521; the tap water pipe is inserted into the mounting hole 5224, and the rotation of the rotating chuck 5221 drives the wedge block 5223 to move toward the center position in the wedge groove 5222, clamping the tap water pipe between the plurality of wedge blocks 5223, and the outlet of the tap water pipe is passed through the mounting hole 5224.

[0079] In this embodiment, the water pipe is inserted into the mounting hole 5224, and the rotary chuck 5221 is driven to rotate, so that the several wedge blocks 5223 move toward the center position in the wedge groove 5222, and the water pipe is fixedly clamped between the several wedge blocks 5223. The position of the water pipe can be finely adjusted by adjusting the position of each wedge block 5223, and the second hydraulic rotary cylinder 521 can be driven to rotate and adjust the position of the water pipe to ensure that the water outlet of the water pipe is accurately connected to the water inlet of the sprinkler truck; after docking, the water pipe connected to the sprinkler truck is rotated and tightened by driving the second hydraulic rotary cylinder 521. After tightening, the rotary chuck 5221 is driven to make the wedge blocks 5223 move around in the wedge groove 5222, and the water pipe is released to complete the docking of the water outlet of the water pipe and the water inlet of the sprinkler truck.

[0080] It is further explained that the wedge blocks 5223 can be set to four pieces, and the four wedge blocks 5223 move synchronously toward the center position of the rotating chuck 5221 to clamp and fix the water pipe.

[0081] It is further explained that the arrangement of the claw assembly 522 facilitates the docking installation of the water pipe and the sprinkler truck, and ensures that the water outlet of the water pipe and the water inlet of the sprinkler truck are tightly and firmly connected by rotating and tightening.

[0082] like Figure 3 As shown, the power output mechanism 2 includes: a fixed mounting frame 21 installed on the fixed base frame 1, and a master pump 22, an oil tank 23, a cooling fan 24 and an oil circuit control valve group 25 installed on the fixed mounting frame 21. The oil inlet of the master pump 22 is connected to the oil tank 23 through a pipeline, and the oil outlet of the master pump 22 is connected to the oil circuit control valve group 25 through a four-way joint; the cooling fan 24 is arranged on the return oil channel of the oil circuit control valve group 25 for cooling the returning hydraulic oil.

[0083] like Figure 3 As shown, the oil circuit control valve group 25 includes: a first oil circuit control valve 251, a second oil circuit control valve 252 and a third oil circuit control valve 253;

[0084] The first oil circuit control valve 251 controls the first hydraulic rotary cylinder 511 , the second hydraulic rotary cylinder 521 and the third hydraulic rotary cylinder 41 ;

[0085] The second oil circuit control valve 252 controls the X-axis hydraulic cylinder 31, the Y-axis hydraulic cylinder 34, the adjustment arm hydraulic cylinder 44, the first adjustment arm hydraulic cylinder 46, the second adjustment arm hydraulic cylinder 48 and the grabbing arm hydraulic cylinder 514;

[0086] The third oil circuit control valve 253 controls the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 .

[0087] like Figures 1 to 8 As shown, the power output mechanism controls the operation of each hydraulic cylinder through the oil circuit control valve group 25, including the following:

[0088] The hydraulic oil flows into the oil circuit control valve group 25 through the oil outlet of the oil tank 23, the oil inlet of the master pump 22, and the oil outlet of the master pump 22 in sequence;

[0089] The first hydraulic rotary cylinder 511, the second hydraulic rotary cylinder 521 and the third hydraulic rotary cylinder 41 are controlled by controlling the on-off of the first oil circuit control valve 251;

[0090] By controlling the on / off of the second oil circuit control valve 252, the extension and retraction of the X-axis hydraulic cylinder 31, the Y-axis hydraulic cylinder 34, the adjustment arm hydraulic cylinder 44, the first adjustment arm hydraulic cylinder 46, the second adjustment arm hydraulic cylinder 48 and the grabbing arm hydraulic cylinder 514 are controlled;

[0091] By controlling the on-off of the third oil circuit control valve 253, the extension and retraction of the grab arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 are controlled;

[0092] The oil return port of the oil circuit control valve group 25 is in fluid communication with the oil return circuit of the oil tank 23 . A cooling fan 24 is provided on the oil return circuit for cooling the returning hydraulic oil.

[0093] In this embodiment, the specific contents of each hydraulic cylinder operation are as follows:

[0094] The hydraulic oil in the oil tank 23 is output to the master pump 22 through a pipeline to provide power for the master pump 22. A four-way joint is provided at the oil outlet of the master pump 22, which can respectively deliver oil to the first oil circuit control valve 251, the second oil circuit control valve 252 and the third oil circuit control valve 253 in the oil circuit control valve group 25. The first oil circuit control valve 251, the second oil circuit control valve 252 and the third oil circuit control valve 253 are then controlled to control the output of hydraulic oil to each hydraulic cylinder, so that each hydraulic cylinder can operate under the control of the control valve, thereby controlling the movement of the adjustment mechanism 3, the telescopic arm mechanism 4 and the gripper mechanism 5. The hydraulic oil enters from the oil inlet of each hydraulic cylinder, causing the hydraulic cylinder to start operating, and then is output from its oil outlet and flows back to the oil circuit control valve group 25. Under the control of the oil circuit control valve group 25, the oil flows to the cooling fan 24 for cooling, and the cooled hydraulic oil flows back to the oil tank 23 through the pipeline. This cycle is repeated to control the operation of each hydraulic cylinder.

[0095] The hydraulic oil flows out from the oil outlet of the oil tank 23, flows through the main pump 22 and flows from the oil outlet of the main pump 22 to the first oil circuit control valve 251. The first oil circuit control valve 251 controls the hydraulic oil to flow out from the oil outlet of the first oil circuit control valve 251 and flow into the oil inlets of the first hydraulic rotary cylinder 511, the second hydraulic rotary cylinder 521 and the third hydraulic rotary cylinder respectively, driving the first hydraulic rotary cylinder 511, the second hydraulic rotary cylinder 521 and the third hydraulic rotary cylinder 41 to rotate, and then adaptively adjust the position of the claw assembly 522 to grab the tap water pipe, and also adaptively adjust the alignment position of the tap water pipe outlet and the sprinkler truck inlet; when the operation is completed, the hydraulic oil flows back to the first oil circuit control valve 251 from the oil outlets of the first hydraulic rotary cylinder 511, the second hydraulic rotary cylinder 521 and the third hydraulic rotary cylinder respectively.

[0096] The hydraulic oil flows out from the oil outlet of the oil tank 23, circulates through the master pump 22 and flows from the oil outlet of the master pump 22 to the second oil circuit control valve 252. The second oil circuit control valve 252 controls the hydraulic oil to flow out from the oil outlet of the second oil circuit control valve 252 and flows into the oil inlets of the X-axis hydraulic cylinder 31, the Y-axis hydraulic cylinder 34, the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46, the second adjusting arm hydraulic cylinder 48 and the grabbing arm hydraulic cylinder 514 respectively, driving the X-axis hydraulic cylinder 31, the Y-axis hydraulic cylinder 34, the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46, the second adjusting arm hydraulic cylinder 48 and the grabbing arm hydraulic cylinder 514 to extend and retract. The distance from the telescopic arm mechanism 4 to the water inlet of the tap water pipe or the water pipe of the sprinkler truck can be adaptively adjusted, and then the adjusting arm 43, the first adjusting arm 45, the second adjusting arm 47 and the grabbing arm 513 can be adaptively adjusted to shorten the distance from the claw assembly 522 to the water inlet of the tap water pipe or the water pipe of the sprinkler truck, so that the claw assembly 522 is closer to the water inlet of the tap water pipe or the water pipe of the sprinkler truck; when the operation is completed, the hydraulic oil flows back to the second oil circuit control valve 252 from the oil outlets of the X-axis hydraulic cylinder 31, the Y-axis hydraulic cylinder 34, the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46, the second adjusting arm hydraulic cylinder 48 and the grabbing arm hydraulic cylinder 514 respectively.

[0097] The hydraulic oil flows out from the oil outlet of the oil tank 23, flows through the main pump 22 and flows from the oil outlet of the main pump 22 to the third oil circuit control valve 253. The third oil circuit control valve 253 controls the hydraulic oil to flow out from the oil outlet of the third oil circuit control valve 253 and flow into the oil inlets of the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 respectively, driving the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 to extend and retract, thereby accurately adjusting the distance between the claw assembly 522 and the tap water pipe or the water inlet of the sprinkler truck, further ensuring the accuracy of the claw assembly 522 in grabbing the tap water pipe and the accuracy of docking with the water inlet of the sprinkler truck; at the end of the operation, the hydraulic oil flows back to the second oil circuit control valve 252 from the oil outlets of the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 respectively. The return flow of the hydraulic oil of each hydraulic cylinder is controlled by controlling the on and off of the oil circuit control valve group 25. The hydraulic oil flowing back to the oil circuit control valve group 25 is circulated through the pipeline to the cooling fan 24 position for cooling. The cooled hydraulic oil flows back to the oil tank 23 for the next round of circulation.

[0098] like Figures 1 to 8 As shown, the present invention also provides a method for automatically docking a water supply device with a precision sprinkler truck, which is as follows:

[0099] S1. The hydraulic oil in the power output mechanism 2 flows into the master pump 22 and the oil circuit control valve group 25 to control the telescopic movement of each hydraulic cylinder.

[0100] S2. Drive the adjustment mechanism 3 so that the telescopic arm mechanism 4 and the gripping mechanism 5 move to a position close to the tap water pipe.

[0101] S3. Adaptively adjust the telescopic arm mechanism 4 so that the gripping mechanism 5 is close to the tap water pipe.

[0102] S4. Adaptively adjust the gripper adjustment module 51 and control the gripper grasping module 52 to accurately grasp the water pipe.

[0103] S5. The gripper grabbing module 52 grabs the tap water pipe until the water outlet of the tap water pipe extends out of the gripper grabbing module 52 to a specific position.

[0104] S6. Adaptively adjust the regulating mechanism 3, the telescopic arm mechanism 4 and the gripper regulating module 51 so that the water outlet of the tap water pipe is connected to the water inlet of the water pipe of the sprinkler truck.

[0105] S7. Control the gripper module 52 to connect the water outlet of the tap water pipe with the water inlet of the sprinkler truck water pipe and rotate and tighten them.

[0106] S8. Release the gripper grasping module 52 to complete the automatic docking of the tap water pipe outlet and the sprinkler truck water pipe inlet.

[0107] like Figures 1 to 8 As shown, the specific steps of the docking method are as follows:

[0108] The hydraulic oil is controlled to flow from the oil tank 23 through the master pump 22 and from the oil outlet of the master pump 22 to the oil circuit control valve group 25, and the extension and contraction movement of each hydraulic cylinder is controlled by the oil circuit control valve group 25;

[0109] Hydraulic oil flows into the X-axis hydraulic cylinder 31 and the Y-axis hydraulic cylinder 34 from their oil inlets, driving the X-axis hydraulic cylinder 31 and the Y-axis hydraulic cylinder 34 to extend and retract, moving the telescopic arm mechanism 4 and the gripper mechanism 5 to a position close to the tap water pipe.

[0110] The hydraulic oil flows into the oil inlet of the third hydraulic rotary cylinder 41 and drives the third hydraulic rotary cylinder 41 to rotate, adjusting the extension direction of the telescopic arm mechanism 4 to face the tap water pipe;

[0111] Hydraulic oil flows into the oil inlets of the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46, and the second adjusting arm hydraulic cylinder 48 respectively, and simultaneously drives the telescopic ends of the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46, and the second adjusting arm hydraulic cylinder 48 to extend, so that the adjusting arm 43, the first adjusting arm 45, and the second adjusting arm 47 can be adaptively extended and retracted, and the extension direction of the telescopic arm frame mechanism 4 is adjusted to align with the tap water pipe;

[0112] Hydraulic oil flows from the oil inlet of the first hydraulic rotary cylinder 511 to drive the first hydraulic rotary cylinder 511 to rotate, and adjusts the extension direction of the gripper adjustment module 51 to be aligned with the water pipe;

[0113] Hydraulic oil flows in from the oil inlets of the grabbing arm hydraulic cylinder 514, the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175, driving the grabbing arm hydraulic cylinder 514, the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 to extend and retract, and adaptively rotate the grabbing arm 513 and the grabbing arm 515 until their extension direction is aligned with the tap water pipe.

[0114] The rotary chuck 5221 is controlled to rotate so that the wedge blocks 5223 all spread outward in the wedge groove 5222, exposing the mounting holes 5224 therein. The hydraulic oil is controlled to flow into the oil inlet of the second hydraulic rotary cylinder 521, driving the second hydraulic rotary cylinder 521 to rotate and aligning the mounting hole 5224 with the tap water pipe.

[0115] Place the water pipe in the installation hole 5224 , and rotate the rotary chuck 5221 to move the wedge blocks 5223 inward to fix and clamp the tap water pipe. At this time, the water inlet of the tap water pipe passes through the installation hole 5224 .

[0116] The hydraulic oil is controlled to flow out from the oil outlets of the X-axis hydraulic cylinder 31 and the Y-axis hydraulic cylinder 34 to drive the X-axis hydraulic cylinder 31 and the Y-axis hydraulic cylinder 34 to extend and retract, and the telescopic arm mechanism 4 and the gripper mechanism 5 are moved and adjusted to a position close to the water inlet of the sprinkler truck water pipe.

[0117] The hydraulic oil flows out from the oil outlet of the third hydraulic rotary cylinder 41, driving the third hydraulic rotary cylinder 41 to rotate, and adjusting the extension direction of the telescopic arm mechanism 4 to face the water inlet of the sprinkler truck water pipe.

[0118] Hydraulic oil flows in from the oil inlets of the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46 and the second adjusting arm hydraulic cylinder 48 respectively, driving the adjusting arm hydraulic cylinder 44, the first adjusting arm hydraulic cylinder 46 and the second adjusting arm hydraulic cylinder 48 to telescope and adjust the extension direction of the telescopic arm mechanism 4 to a position aligned with the water inlet of the sprinkler truck water pipe.

[0119] The hydraulic oil flows in from the oil inlet of the first hydraulic rotary cylinder 511 , driving the first hydraulic rotary cylinder 511 to rotate, and adjusting the extension direction of the gripper adjustment module 51 to be aligned with the water inlet of the sprinkler truck.

[0120] The hydraulic oil flows in from the oil inlets of the grabbing arm hydraulic cylinder 514, the grabbing arm hydraulic cylinder 516 and the fine-tuning control hydraulic cylinder 5175 respectively, driving the grabbing arm hydraulic cylinder 514 and the grabbing arm hydraulic cylinder 516 to perform telescopic operations, and adaptively rotating the grabbing arm 513 and the grabbing arm 515 until the extension direction is aligned with the water inlet position of the sprinkler truck water pipe.

[0121] The water outlet of the tap water pipe passing through the mounting hole 5224 is connected to the water inlet of the sprinkler truck, and the hydraulic oil is controlled to enter from the oil inlet of the third hydraulic rotary cylinder 41, driving the third hydraulic rotary cylinder 41 to rotate, so that the tap water pipe is connected to the water inlet of the sprinkler truck and rotated and tightened.

[0122] The rotary chuck 5221 is controlled to rotate so that the wedge blocks 5223 all move outward in the wedge groove 5222 to loosen the tap water pipe, thereby completing the connection between the tap water pipe outlet and the sprinkler truck water pipe inlet.

[0123] It should be understood that the specific embodiments described above are only used to explain the present invention and are not intended to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A precise sprinkler truck automatic docking water supply device, characterized in that: The invention comprises a fixed base frame (1) docked with a sprinkler truck, a power output mechanism (2) mounted on the fixed base frame (1), an adjustment mechanism (3) in oil communication with the power output mechanism (2), a telescopic arm mechanism (4) mounted on the adjustment mechanism (3) for adjusting the docking position of a tap water pipe and a sprinkler truck water pipe, and a gripping mechanism (5) mounted on the top of the telescopic arm mechanism (4) for accurately gripping the tap water pipe. The gripper mechanism (5) comprises: a gripper adjustment module (51) installed with the telescopic arm mechanism (4) and a gripper grabbing module (52) installed on the top of the gripper adjustment module (51); The gripper adjustment module (51) comprises: a first hydraulic rotary cylinder (511) mounted on the telescopic arm mechanism (4), a grabbing arm (513) mounted on the rotating end of the first hydraulic rotary cylinder (511) through a first connecting member (512), a grabbing arm hydraulic cylinder (514) with one end rotatably mounted to the first connecting member (512) and the other end rotatably mounted to the grabbing arm (513), a grabbing arm (515) rotatably mounted to the grabbing arm (513), a grabbing arm hydraulic cylinder (516) with one end rotatably mounted to the grabbing arm (513) and the other end rotatably mounted to the grabbing arm (515), and a fine-tuning assembly (517) mounted on the top of the grabbing arm (515).

2. The automatic docking water supply device for a precision sprinkler truck according to claim 1 is characterized in that: The power output mechanism (2) comprises: a fixed mounting frame (21) mounted on the fixed base frame (1), and a master pump (22), an oil tank (23), a cooling fan (24), and an oil circuit control valve group (25) mounted on the fixed mounting frame (21); The oil inlet of the master pump (22) is in communication with the oil tank (23) through a pipeline, and the oil outlet of the master pump (22) is in communication with the oil control valve group (25) through a four-way joint; The cooling fan (24) is arranged on the oil return channel of the oil circuit control valve group (25) and is used for cooling the returning hydraulic oil.

3. The automatic docking water supply device for a precision sprinkler truck according to claim 2 is characterized in that: The fine-tuning assembly (517) includes: a fixed support plate (5171) mounted on the top of the grabbing arm (515), a connecting block (5172) rotatably mounted on the end of the fixed support plate (5171), a first connecting frame (5173) rotatably connected to the fixed support plate (5171), a second connecting frame (5174) rotatably mounted on the first connecting frame (5173) at one end and rotatably mounted on the connecting block (5172) at the other end, and a fine-tuning control hydraulic cylinder (5175) mounted on the grabbing arm (515) at one end and on the end of the first connecting frame (5173) at the other end. The gripper grabbing module (52) is mounted on the connecting block (5172).

4. The automatic docking water supply device for a precision sprinkler truck according to claim 3 is characterized in that: The gripper grasping module (52) comprises: a second hydraulic rotary cylinder (521) fixedly mounted on the fine-tuning assembly (517) and a claw assembly (522) mounted on the rotating end of the second hydraulic rotary cylinder (521) for grasping a tap water pipe.

5. The automatic docking water supply device for a precision sprinkler truck according to claim 4 is characterized in that: The claw assembly (522) comprises: a rotary chuck (5221) mounted on the rotating end of the second hydraulic rotary cylinder (521), a plurality of wedge-shaped grooves (5222) provided on the rotary chuck (5221), and wedge blocks (5223) installed in the wedge-shaped grooves (5222) via a rack gear transmission; a mounting hole (5224) penetrating the second hydraulic rotary cylinder (521) for a tap water pipe to pass through is provided at the center of the rotary chuck (5221); The tap water pipe is passed through the installation hole (5224), and the rotation of the rotary chuck (5221) drives the wedge block (5223) to move toward the center position in the wedge groove (5222), thereby clamping the tap water pipe between the plurality of wedge blocks (5223), and passing the water outlet of the tap water pipe through the installation hole (5224).

6. The automatic docking water supply device for a precision sprinkler truck according to claim 5 is characterized in that: The telescopic arm mechanism (4) comprises: a third hydraulic rotary cylinder (41) mounted on the adjustment mechanism (3) through a connecting frame (49), an adjustment arm (43) mounted on the rotating end of the third hydraulic rotary cylinder (41) through a second connecting member (42), an adjustment arm hydraulic cylinder (44) with one end rotatably mounted on the second connecting member (42) and the other end rotatably mounted with the adjustment arm (43), a first adjustment arm (45) rotatably mounted with the adjustment arm (43), a first adjustment arm hydraulic cylinder (46) with one end rotatably mounted with the adjustment arm (43) and the other end rotatably mounted with the first adjustment arm (45), a second adjustment arm (47) rotatably mounted with the first adjustment arm (45), and a second adjustment arm hydraulic cylinder (48) with one end rotatably mounted with the first adjustment arm (45) and the other end mounted with the second adjustment arm (47); the gripper grabbing module (52) is mounted on the top of the second adjustment arm (47).

7. The automatic docking water supply device for a precision sprinkler truck according to claim 6 is characterized in that: The adjusting mechanism (3) comprises: two parallel X-axis hydraulic cylinders (31) mounted on the fixed base (1), an L-shaped X-axis mounting plate (32) mounted on the contraction end of the X-axis hydraulic cylinder (31), an X-axis sliding assembly (33) mounted between the X-axis mounting plate (32) and the X-axis hydraulic cylinder (31), a Y-axis hydraulic cylinder (34) mounted on the two X-axis hydraulic cylinders (31), an L-shaped Y-axis mounting plate (35) mounted on the contraction end of the Y-axis hydraulic cylinder (34), and a Y-axis sliding assembly (36) mounted between the Y-axis mounting plate (35) and the Y-axis hydraulic cylinder (34); the gripper grabbing module (52) is mounted on the Y-axis mounting plate (35).

8. The automatic docking water supply device for a precision sprinkler truck according to claim 7 is characterized in that: The oil circuit control valve group (25) includes: a first oil circuit control valve (251), a second oil circuit control valve (252) and a third oil circuit control valve (253); The first oil circuit control valve (251) controls the first hydraulic rotary cylinder (511), the second hydraulic rotary cylinder (521), and the third hydraulic rotary cylinder (41); The second oil circuit control valve (252) controls the X-axis hydraulic cylinder (31), the Y-axis hydraulic cylinder (34), the adjusting arm hydraulic cylinder (44), the first adjusting arm hydraulic cylinder (46), the second adjusting arm hydraulic cylinder (48), and the grabbing arm hydraulic cylinder (514); The third oil circuit control valve (253) controls the grabbing arm hydraulic cylinder (516) and the fine-tuning control hydraulic cylinder (5175).

9. The automatic docking water supply device for a precision sprinkler truck according to claim 8, characterized in that: The power output mechanism controls the operation of each hydraulic cylinder through the oil circuit control valve group (25), which specifically includes the following contents: The hydraulic oil flows into the oil circuit control valve group (25) in sequence through the oil outlet of the oil tank (23), the oil inlet of the master pump (22), and the oil outlet of the master pump (22); The rotation of the first hydraulic rotary cylinder (511), the second hydraulic rotary cylinder (521) and the third hydraulic rotary cylinder is controlled by controlling the on-off of the first oil circuit control valve (251); By controlling the on-off of the second oil circuit control valve (252), the extension and retraction of the X-axis hydraulic cylinder (31), the Y-axis hydraulic cylinder (34), the adjusting arm hydraulic cylinder (44), the first adjusting arm hydraulic cylinder (46), the second adjusting arm hydraulic cylinder (48), and the grabbing arm hydraulic cylinder (514) are controlled; By controlling the on / off of the third oil circuit control valve (253), the extension and retraction of the grabbing arm hydraulic cylinder (516) and the fine-tuning control hydraulic cylinder (5175) are controlled; The oil return port of the oil circuit control valve group (25) is in fluid communication with the oil return oil circuit of the oil tank (23), and a cooling fan (24) is provided on the oil return oil circuit for cooling the returning hydraulic oil.

10. A method for automatically docking a water supply device with a precision sprinkler truck, characterized in that: The automatic docking water supply device of the precision sprinkler truck according to any one of claims 2 to 9 is used, comprising the following steps: S1. The hydraulic oil flows into the master pump (22) and the oil control valve group (25) through the power output mechanism (2) to control the telescopic movement of each hydraulic cylinder; S2. The drive adjustment mechanism (3) moves the telescopic arm mechanism (4) and the gripper mechanism (5) to a position close to the water pipe; S3 adaptively adjust the telescopic arm mechanism (4) so ​​that the gripper mechanism (5) is located near the water pipe; S4 adaptively adjusts the gripper adjustment module (51) and controls the gripper grabbing module (52) to accurately grab the water pipe; S5. The grabbing module (52) grabs the water pipe until the outlet of the water pipe extends out of the grabbing module (52) to a specific position; S6. Adaptive adjustment mechanism (3), telescopic arm mechanism (4) and gripper adjustment module (51) so that the outlet of the tap water pipe is docked with the water inlet of the sprinkler water pipe; S7. By controlling the gripper grab module (52), the water outlet of the tap water pipe is connected to the water inlet of the sprinkler water pipe and is rotated and tightened; S8. Release the gripper to grab the module (52), and complete the automatic docking of the water outlet of the tap water pipe and the water inlet of the sprinkler truck.

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